Note: This tutorial assumes that you have completed the previous tutorials: Setting up for TidyupRobot.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Building maps for TidyupRobot

Description: This tutorial describes how to build a 2D and 3D octomap for use in the Tidyup Robot project.

Keywords: tidyup, gmapping, octomap

Tutorial Level: ADVANCED

Next Tutorial: Teaching locations for running TidyupRobot

Creating a 2D map

  • robot start

  • rosrun rviz rviz

  • Add an rviz map display on topic /map
  • Tuck the arms: roslaunch pr2_tuckarm tuck_arms.launch

  • Run teleop (preferably on the robot): roslaunch pr2_teleop teleop_joystick.launch

  • Run gmapping: rosrun gmapping slam_gmapping scan:=base_scan _odom_frame:=odom_combined

  • Save the map when done (before you kill gmapping): rosrun map_server map_saver -f map-tidyup

  • Your map is saved locally as map-tidyup.pgm with parameters in map-tidyup.yaml
  • Move the map files to tidyup_launch_tut/maps.

Creating a 3D map

  • robot start

  • rosrun rviz rviz

  • Add an rviz map display on topic /map
  • Tuck the arms: roslaunch pr2_tuckarm tuck_arms.launch

  • Run teleop (preferably on the robot): roslaunch pr2_teleop teleop_joystick.launch

  • Load previously created map onto the map server: rosrun map_server map_server map-tidyup.yaml

  • Run the PR2 localization: roslaunch tidyup_executive amcl_node.xml

  • Initialize the robot pose in rviz and localize robot by driving around
  • Start the octomap server and create a 3D map using the Kinect: roslaunch tidyup_executive octomap_mapping.launch

  • Save the octomap: rosrun octomap_server octomap_saver octomap-tidyup.bt

  • Copy the octomap to: tidyup_launch_tut/maps

Wiki: tidyup_robot/Tutorials/setup/Building maps for TidyupRobot (last edited 2012-11-21 13:30:56 by JuergenHess)